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Driver Feedback Cues

Disclaimer: WIP and untested on 2026 hardware; map to your controllers/LEDs. Custom code built on WPILib APIs (not official WPILib sample).

Purpose: Give drivers tactile/visual cues for hub state flips and climb windows.

Code (Java/WPILib)

public class DriverFeedback {
  private final XboxController controller;
  private HubShiftTimer.HubState lastState = HubShiftTimer.HubState.ACTIVE;
  private int lastShift = -1;

  public DriverFeedback(XboxController controller) {
    this.controller = controller;
  }

  public void update(HubShiftTimer.Status status) {
    if (status.shiftIndex() != lastShift) {
      pulse(0.3); // short rumble on shift change
      lastShift = status.shiftIndex();
    }
    if (status.ourHub() != lastState) {
      if (status.ourHub() == HubShiftTimer.HubState.ACTIVE) pulse(0.6);
      lastState = status.ourHub();
    }
  }

  public void climbWindow(boolean enabled) {
    if (enabled) pulse(1.0);
  }

  private void pulse(double intensity) {
    controller.setRumble(RumbleType.kBothRumble, intensity);
    Timer.delay(0.15);
    controller.setRumble(RumbleType.kBothRumble, 0);
  }
}

Usage

  • Call update each periodic with HubShiftTimer.Status.
  • Call climbWindow(true) at END GAME start.

Pitfalls

  • Don’t block the main loop with long delays; keep pulses short.
  • If using LEDs, replace rumble with CANdle/REV Blinkin calls.